We have proposed a method to compute over-approximations of reachable
tubes for LTV systems that are additionally represented in a form
suitable for formal verification purposes. The method has been
inspired by existing techniques for LTI systems, and, when applied
to that special case, it is almost equivalent to
those in [1]}, [2]}, except that it
additionally requires to repeatedly compute convex hulls.
We have also presented a zonotopic variant of the method and
demonstrated its performance on an example, which indicates that the
computational effort is comparable to that of existing methods
approximating reachable sets rather than tubes.
The accuracy of our method could be improved by
implementing component-wise estimates as in
e.g. [3]},
in place of matrix and vector norms.
